CN110096077B - Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor - Google Patents
Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor Download PDFInfo
- Publication number
- CN110096077B CN110096077B CN201910470537.7A CN201910470537A CN110096077B CN 110096077 B CN110096077 B CN 110096077B CN 201910470537 A CN201910470537 A CN 201910470537A CN 110096077 B CN110096077 B CN 110096077B
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- sliding mode
- torque
- phase
- speed control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a nonsingular rapid terminal sliding mode rotating speed control method and a nonsingular rapid terminal sliding mode rotating speed control system for a switched reluctance motor, wherein the method comprises the following steps: constructing a nonsingular rapid terminal sliding mode rotating speed control model based on the rotating speed deviation of the system, and solving a system rotating speed control law and a system reference torque through the nonsingular rapid terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; and controlling the operation of the switched reluctance motor through the difference signal and the rotor position angle of each phase. The nonsingular rapid terminal sliding mode control is applied to the control of the rotating speed of the switched reluctance motor system, so that the fluctuation of the rotating speed is effectively inhibited, the rotating speed control precision is improved, and the system response speed is accelerated; and direct instantaneous torque control based on a cosine type torque distribution function is matched, so that a control system with a rotating speed ring and a torque ring in a double closed loop mode is formed.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a nonsingular rapid terminal sliding mode rotating speed control method and system for a switched reluctance motor.
Background
A Switched Reluctance Motor (SRM), which is a doubly salient Motor driven based on the principle of "Reluctance variation". The structure is simple, the rotor has no winding, and the starting device has the characteristics of small starting current, large starting torque, high power factor and the like. The method is commonly used in the fields of petroleum machinery, forging machinery and urban new energy automobiles. By controlling the on-off of each phase of the motor, good energy-saving effect and speed regulation performance can be realized, and the system is a new generation stepless speed regulation system. The method is widely applied to petroleum machinery, mine site machinery, new energy vehicles, forging machinery and other occasions. However, the switched reluctance motor is a multivariable, strongly coupled and severely nonlinear controlled object, and the torque ripple problem is a main defect limiting the switched reluctance motor to play its role in various applications. The main reason for generating the pulse of the switched reluctance motor is the strong nonlinear characteristic of each phase when generating electromagnetic torque caused by the double salient pole structure of the motor and the excitation mode of discrete phase windings. Particularly, in the phase change process of the switched reluctance motor, if the switching is performed between phases in a conventional control mode, the electromagnetic torque increment generated by the conducting phase is difficult to completely offset the torque reduction generated by the off phase, and further, torque pulsation is generated.
A conventional control strategy for a switched reluctance motor adopts a control strategy of combining current chopping control with a rotational speed PI controller (PI controller, a linear controller), as shown in fig. 1, and the control system has a work flow: firstly, calculating the deviation between the expected rotating speed and the actual rotating speed feedback value, inputting the obtained rotating speed deviation into a PI controller, and taking the output value of the PI controller as a reference current value; and subtracting the reference current value from the feedback value of the actual current, carrying out the current chopping control on the deviation value, carrying out the AND operation on the output signal of the deviation value and the rotor position angle signal, and enabling the output signal to enter a power converter as a signal for switching on and off of each phase winding to drive the switched reluctance motor to operate. However, the traditional PI control is linear control, and the switched reluctance motor is a seriously nonlinear controlled object, so that the problems of over-slow rotating speed response speed, overshoot during reaching a steady state and low control precision exist in the control process; the traditional PI control causes the torque pulsation of the switched reluctance motor to be large, and has the defects that the torque pulsation cannot be inhibited and the situation with high requirements on the torque pulsation is not suitable; meanwhile, the control method has poor anti-interference capability, and the time for recovering to a steady state after the load is suddenly added is too long. Therefore, the traditional control methods for the switched reluctance motor, such as current chopping control and pulse width modulation control, have certain defects, cannot meet the requirements of various application occasions, and particularly need more advanced control strategies on occasions with higher dynamic performance requirements and more interference.
Compared with a current chopping control strategy and a pulse width modulation control strategy, the sliding mode control has higher anti-interference performance, the control structure is constantly changed, and the control requirement of more occasions can be met. However, the sliding mode surface of the existing sliding mode control is in a linear form, and the control law contains switching terms, so that the phenomenon of buffeting is easy to occur; and after the system reaches the sliding mode surface, the error can be gradually converged to zero under the control action, namely the error convergence needs a certain time, so the conventional sliding mode control strategy also has the problem of overlong adjustment time.
Disclosure of Invention
At least one of the objectives of the present invention is to overcome the problems in the prior art, and provide a nonsingular fast terminal sliding mode rotation speed control method for a switched reluctance motor, which can enable an error to reach a final state within a limited time by introducing a non-linear idea into a conventional sliding mode surface, and effectively avoid the singular problem that the error is zero and the error change rate is not zero by reasonably improving the non-linear sliding mode control method.
In order to achieve the above object, the present invention adopts the following aspects.
A nonsingular fast terminal sliding mode rotating speed control method for a switched reluctance motor comprises the following steps:
constructing a nonsingular rapid terminal sliding mode rotating speed control model based on the rotating speed deviation of the system, and solving a system rotating speed control law and a system reference torque through the nonsingular rapid terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; and controlling the operation of the switched reluctance motor through the difference signal and the rotor position angle of each phase.
Preferably, the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor further comprises the step of substituting a rotating speed control law solved by the nonsingular fast terminal sliding mode rotating speed control model and a reference torque into a state equation of a system to verify the nonsingular fast terminal sliding mode rotating speed control model after the nonsingular fast terminal sliding mode rotating speed control model is established.
Preferably, in the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor, the specific process of constructing the nonsingular fast terminal sliding mode rotating speed control model includes:
designing a nonsingular terminal sliding mode surface according to the given rotation speed deviation of the system; solving an approach law of the nonsingular terminal sliding mode surface; and establishing a control law equation of the nonsingular rapid terminal sliding mode rotating speed control model according to the nonsingular terminal sliding mode surface and the approximation law thereof.
Preferably, in the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor, a saturation function sat (z) is adopted to solve an approach law of the nonsingular terminal sliding mode surface.
Preferably, in the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor, the nonsingular fast terminal sliding mode rotating speed control model is as follows:
wherein J is the rotational inertia of the motor; b is a viscous friction coefficient; x is the number of1Is the deviation of the rotating speed; ρ is a positive integer, p and q are positive odd numbers, and
p>q; sat (z) is a saturation function; epsilon is a positive integer; theta is a rotor position angle; u is the system speed control rate
The reference torque T can be obtained by integrating Uref。
Preferably, in the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor, a cosine type torque distribution function is adopted to solve the instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque.
Preferably, in the nonsingular fast terminal sliding mode rotating speed control method for the switched reluctance motor, the cosine type torque distribution function is as follows:
where θ is the rotor position angle of each phase, θonOpening a through angle for each phase winding; thetaoffStarting to reduce the rotor position angle corresponding to the electromagnetic torque for each phase winding in the torque distribution function; thetaovAn overlap angle at which two adjacent phases are simultaneously conducted when the motor windings are in phase change in the torque distribution function; tau isrIs the rotor angle period.
Preferably, in the nonsingular fast terminal sliding-mode rotating speed control method for the switched reluctance motor, the rotor position angle signal and the difference signal drive the switched reluctance motor to operate through logical operation of and.
A non-singular fast terminal sliding mode rotating speed control system of a switched reluctance motor comprises: the device comprises a motor body, a power converter, a controller, a current sensor and a position sensor;
the controller is used for calculating the rotating speed deviation of a system according to data signals of the motor body, acquired by the current sensor and the position sensor, constructing a nonsingular fast terminal sliding mode rotating speed control model based on the rotating speed deviation, and solving a system rotating speed control law and a reference torque through the nonsingular fast terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; and the difference signal and the rotor position angle signal are subjected to AND logical operation and then transmitted to a power converter;
and the power converter is used for controlling the on-off of each phase according to the logical operation result of the difference signal and the rotor position angle signal and driving the switched reluctance motor to operate.
A controller for controlling the nonsingular fast terminal sliding mode rotating speed of a switched reluctance motor comprises at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
In summary, due to the adoption of the technical scheme, the invention at least has the following beneficial effects:
1. the sliding mode controller is adopted to replace the traditional PI rotating speed controller, and a nonlinear thought is introduced to replace the traditional linear sliding mode controller when a sliding mode surface is designed, so that the rotating speed response speed of the system can be effectively improved, and the system adjusting time is shortened; meanwhile, the system can rapidly respond to load disturbance, so that the robustness of the system is enhanced;
2. the nonsingular rapid terminal sliding mode controller improves the sign function used by the sliding mode controller into a saturation function, further inhibits buffeting of output reference torque, improves the control precision of a system, and reduces torque pulsation of a switched reluctance motor;
3. the nonsingular fast terminal sliding mode control is matched with a direct instantaneous torque control strategy, so that the remarkable effect is achieved in the aspect of inhibiting the torque pulsation of the switched reluctance motor, and the application range of the switched reluctance motor is expanded.
Drawings
Fig. 1 is a schematic block diagram of a prior art current chopping control combined with a rotational speed PI controller control method.
Fig. 2 is an overall block diagram of a non-singular fast terminal sliding-mode control system of a switched reluctance motor based on direct instantaneous torque according to an exemplary embodiment of the present invention.
Fig. 3 is a flowchart of a non-singular fast terminal sliding mode rotational speed control method of a switched reluctance motor according to an exemplary embodiment of the present invention.
Fig. 4 is a torque simulation curve under PI control + current chopping control and PI control + direct instantaneous torque control according to an exemplary embodiment of the present invention.
Fig. 5 is a torque simulation curve under direct transient torque control using a conventional PI control and non-singular fast terminal sliding mode control for the control method according to an exemplary embodiment of the present invention.
FIG. 6 is a speed simulation plot for a conventional PI control and non-singular fast terminal sliding-mode control method under direct transient torque control according to an exemplary embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a controller for nonsingular fast terminal sliding-mode speed control of a switched reluctance motor according to an exemplary embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and embodiments, so that the objects, technical solutions and advantages of the present invention will be more clearly understood. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
FIG. 2 illustrates an overall block diagram of a direct instantaneous torque based non-singular fast terminal sliding mode control system according to an exemplary embodiment of the present invention. The control system of this embodiment mainly includes: the motor comprises a motor body, a power converter, a controller, a current sensor and a position sensor.
The switched reluctance motor body is of a three-phase 12/8-pole structure, and the power converter is of a three-phase asymmetric half-bridge topology structure consisting of insulated gate field effect transistors and diodes; the current sensor adopts hall current sensor, and position sensor is for installing 3 photoelectric switch on motor base 7.5 apart from in proper order, and coaxial arrangement shading disk on the rotor judges the rotor position according to the pulse sequence who feeds back. The control chip adopts a special digital signal processing chip and realizes a control strategy through programming. Specifically, the controller comprises a nonsingular fast terminal sliding mode speed control module, a torque distribution function module, a torque hysteresis control module, a torque online estimation link and the like, and the modules can be realized in a control chip (controller) in a programming mode; the motor body is a switched reluctance motor real object, the phase current detection module adopts a current sensor based on a Hall effect, the rotor position module is a position sensor, and the speed detection module (in the controller) calculates the pulse frequency of the position sensor and converts the pulse frequency into a speed signal after detecting the pulse signal of the position sensor.
The core of the control strategy is that nonsingular fast terminal sliding mode control is applied to control of the rotating speed of the switched reluctance motor system, so that rotating speed fluctuation is restrained, rotating speed control precision is improved, and system response speed is accelerated; and direct instantaneous torque control based on a cosine type torque distribution function is matched, so that a control system with a rotating speed ring and a torque ring in a double closed loop mode is formed. The control system mainly comprises a nonsingular rapid terminal sliding mode speed controller, a torque distribution function module, a torque hysteresis control module, a switched reluctance motor body, a phase current detection module, a torque online estimation link, a rotor position angle detection module, a motor running speed detection module and the like. Firstly, the system inputs the deviation of the expected rotating speed and the actual feedback rotating speed into the nonsingular fast speedIn the terminal sliding mode speed control link, the expected torque T synthesized by three phases is output through calculation by a speed controllerref，TrefThen the instantaneous reference torque T of the three-phase winding is obtained through a torque distribution function moduleAref、TBref、TCrefThe torque hysteresis control subtracts the three-phase instantaneous reference torque from the torque fed back in real time through the torque estimation link, and the hysteresis control module determines the corresponding on and off of the power conversion device. Thus, a double closed loop system for controlling the torque of the inner loop and the rotating speed of the outer loop is formed, and the aim of inhibiting the torque pulsation of the switched reluctance motor is achieved.
Further, fig. 3 shows that a non-singular fast terminal sliding-mode rotation speed control method for a switched reluctance motor according to an exemplary embodiment of the present invention includes:
constructing a nonsingular rapid terminal sliding mode rotating speed control model based on the rotating speed deviation of the system, and solving a system rotating speed control law and a system reference torque through the nonsingular rapid terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; and driving the switched reluctance motor to operate through the difference signal and the rotor position angle of each phase.
Specifically, firstly, a system state equation is established according to a mechanical motion equation of the switched reluctance motor:
wherein J is the rotational inertia of the motor; b is a viscous friction coefficient; t isLIs the load torque; θ is the rotor position angle. Due to angular velocity
And the relation between the motor rotating speed and the angular speed is
Therefore, the formula (1) is converted into a conversionThe speed equation:
the state equation of the system is obtained as follows:
deviation x of revolution in the formula1Rate of change of speed deviation ═ n x-n
U is the system control quantity
The reference torque T of the switched reluctance motor can be obtained by integrating Uref。
Then, designing a sliding mode surface of the nonsingular rapid terminal sliding mode rotating speed control model according to the given rotating speed deviation in the system state equation:
for convenience of illustration, let s be x1Designing the nonsingular terminal sliding mode surface as
Where ρ is a positive integer, p and q (p)>q) is a positive odd number, and
suppose at trTime z (t)r) When 0, then z and
will be at a finite time to zero and a convergence time of
After which it enters the sliding mode
And in the quick terminal sliding mode control, the sliding mode surface is
Through derivation, the control law is as follows:
in the formula
When x is1＝0,
When it is going to make
The occurrence of a denominator of zero,
infinity, makes the sliding mode controller have a strange problem. In nonsingular terminal sliding mode control, the sliding mode surface is modified
The control law is calculated and the accessibility meeting design is as follows:
in the formula
The condition that the denominator is zero can not occur, and the singular problem of the fast terminal sliding mode control is solved.
And after the sliding mode surface is designed, solving the approach law of the nonsingular terminal sliding mode surface.Selection of the approach law constant velocity approach law:
epsilon is a positive integer, where the sign function
In order to further suppress torque ripple and reduce chattering of the output reference torque, the sign function sgn (z) is changed to a saturation function sat (z) for solving the approximation law:
where Δ is the boundary layer and k is the feedback coefficient. From the phase trajectory angle, the point moving on the phase plane is attracted into the boundary layer, and the switching of the control structure can be omitted in the boundary layer, and only a linear feedback form is adopted. Therefore, switching control is adopted outside the boundary layer, and a linear feedback mode is adopted in the boundary layer, so that the effect of a switching item is reduced, and the buffeting is weakened. Therefore, the nonsingular rapid terminal sliding mode rotating speed control model (control law equation) can be constructed according to the accessibility of the sliding mode control, and the obtained system control law is as follows:
the reference torque is obtained by integrating U, so the reference torque output by the controller is:
after the nonsingular fast terminal sliding mode rotation speed control model is constructed, the stability of the system under the control action needs to be proved, so that a rotation speed control law solved by the nonsingular fast terminal sliding mode rotation speed control model and a reference torque are substituted into a state equation of the system to verify the stability of the nonsingular fast terminal sliding mode rotation speed control model:
defining the lyapunov function as:
according to the above formula, when
Then, the Lyapunov stabilization condition is satisfied. When in
By substituting formula (8) for formula (3)
And due to
Can obtain the product
When z > 0
z is less than 0
Therefore, it is
x1Not equal to 0 is not a steady state, V-0 will not always remain, and the system will reach the final state Z-0 within a finite time.
Then, after solving the reference torque of the system, the reference torque is distributed in each phase of the switched reluctance motor system according to the rotor position angle information (data collected by a position sensor) of each phase by using a torque distribution function so as to obtain the instantaneous reference torque (direct instantaneous torque) of each phase. The direct instantaneous torque control takes the output of a rotating speed ring as a reference torque, distributes the reference torque through a torque distribution function, and distributes instantaneous reference torques to A, B, C three phases respectively. And then the actual feedback torque of each phase is differed from the reference torque to form hysteresis control, so that the instantaneous torque of each phase can track the reference torque, and the torque pulsation formed by the switched reluctance motor during phase change is reduced.
According to the rotor position angle information of each phase (and the phase current signal detected by the current sensor), the reference torque T output by the rotating speed controller is transmitted by adopting a torque distribution functionrefIs distributed to each phase of the motor as a reference torque of each phase, and satisfies the following relations:
in the formula (f)i(θ) -torque distribution function of the i-th phase winding; m is the phase number of the switched reluctance motor;
Ti-phase i distributed reference torque; t isref-reference torque of the rotational speed output.
And the torque distribution function selects a cosine type torque distribution function, and in a rotor angle period, the ith cosine type torque distribution function is expressed as follows:
where θ is the rotor position angle of each phase, θon-the phase winding opening angle; thetaoff-the phase winding starts to reduce the rotor position angle corresponding to the electromagnetic torque in the torque distribution function; thetaovOverlap angle for simultaneous conduction of two adjacent phases during commutation of the motor winding in the torque distribution function；τr-rotor angle period.
In the design, the feedback of the torque is obtained by inquiring a torque-current-rotor position angle table, and the difference (difference signal) between the reference torque and the actual feedback torque of each phase enters the power converter together with a rotor position angle signal after passing through hysteresis loop control, so that the on-off of each phase is controlled, and the switched reluctance motor is driven to operate.
Specifically, the hysteresis control and the position sensor perform logical operation of and, that is, as long as a condition is satisfied, the shutdown operation is performed. The rotor position angle defines the conducting angle of each phase of the motor, such as 0-15 degrees of A phase, 15-30 degrees of B phase and 30-45 degrees of C phase, when the rotor exceeds the conducting area of A phase in the rotating process, the A phase is switched off and can not be switched on any more, and when the rotor position angle is in the conducting area of A phase, the A phase is controlled to be switched on or switched off by hysteresis loop control. When the rotor position angle is rotated to the conducting area of the phase B, the phase A is required to be switched off, and at the moment, the position signal condition is not met, so that the judgment of hysteresis control on the phase A is not required. The hysteresis width in the hysteresis control is set to be 2 delta T which is 0.2N m (Newton, meter), and when the difference signal of a certain phase torque is larger than the hysteresis width, the phase power switching element is controlled to be switched off; and when the difference signal of the torque of a certain phase is smaller than the hysteresis loop width, controlling the phase power switch element to be conducted.
Furthermore, in order to verify the feasibility of the nonsingular rapid terminal sliding mode control method of the switched reluctance motor based on the direct instantaneous torque, the design is subjected to a simulation experiment on a Matlab/Simulink platform. The switched reluctance motor has the following parameters: number of stator poles NsNumber of rotor poles N equal to 12r8, the direct current bus voltage is 510V, and the inertia moment is 0.0249kg m2The friction coefficient was 0.0083633N · s/rad, the rotational speed was set at 500r/min, and the simulation time was set at 1 s. The simulation results are as follows:
fig. 4 is a torque simulation curve under PI control + current chopping control and PI control + direct instantaneous torque control. At the time of simulation time 0.5s, a load of 20N · m is suddenly applied. When the motor stably runs, the maximum amplitude of torque pulsation is 42 N.m and the minimum amplitude is 2 N.m under the control of current chopping, and the torque pulsation rate is up to 200%; the maximum amplitude of the torque pulsation under the direct instantaneous torque control is 25N m, the minimum amplitude is 9N m, and the torque pulsation rate is 80%. It is found that the direct instantaneous torque control can effectively suppress the torque ripple under the PI control.
FIG. 5 is a torque simulation curve of the control method under direct instantaneous torque control, using conventional PI control and non-singular fast terminal sliding mode control. By fine tuning of the parameters, the torque pulse rate can be reduced to 6%. Compared with the traditional PI control method, the control method has better torque ripple inhibition capability.
FIG. 6 is a simulation curve of the rotation speed of the conventional PI control and non-singular fast terminal sliding mode control method under direct instantaneous torque control. As can be seen from FIG. 2, under the conventional PI control, the time required for the rotation speed to reach the steady state is 0.42s, and the rotation speed has the overshoot of 25r/min at the maximum in the process. After a sudden load at 0.5s, the steady state time is restored to 0.8 s. Under the control of a nonsingular fast terminal sliding mode, the rotating speed adjusting time is 0.03s, and the process has no overshoot. And after the load is applied, the nonsingular fast terminal sliding mode control is recovered to the stable state at 0.504 s. Therefore, the nonsingular fast terminal sliding mode control method has superior dynamic performance compared with the traditional PI control, and the method can be quickly recovered to a stable state after being interfered, and has better robustness.
Fig. 7 shows a controller, namely an electronic device 310 (e.g., a computer server with program execution functionality) comprising at least one processor 311, a power supply 314, and a memory 312 and an input-output interface 313 communicatively connected to the at least one processor 311, according to an exemplary embodiment of the invention; the memory 312 stores instructions executable by the at least one processor 311, the instructions being executable by the at least one processor 311 to enable the at least one processor 311 to perform a method disclosed in any one of the embodiments; the input/output interface 313 may include a display, a keyboard, a mouse, and a USB interface for inputting/outputting data; the power supply 314 is used to provide power to the electronic device 310.
Those skilled in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
When the integrated unit of the present invention is implemented in the form of a software functional unit and sold or used as a separate product, it may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The foregoing is merely a detailed description of specific embodiments of the invention and is not intended to limit the invention. Various alterations, modifications and improvements will occur to those skilled in the art without departing from the spirit and scope of the invention.
Claims (9)
1. A nonsingular fast terminal sliding mode rotating speed control method for a switched reluctance motor is characterized by comprising the following steps:
constructing a nonsingular rapid terminal sliding mode rotating speed control model based on the rotating speed deviation of the system, and solving a system rotating speed control law and a system reference torque through the nonsingular rapid terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; controlling the operation of the switched reluctance motor through the difference signal and the rotor position angle of each phase;
the nonsingular rapid terminal sliding mode rotating speed control model is as follows:
wherein J is the rotational inertia of the motor; b is a viscous friction coefficient; x is the number of1Is the deviation of the rotating speed; ρ is a positive integer, p and q are positive odd numbers, and
p>q; sat (z) is a saturation function; epsilon is a positive integer; theta is a rotor position angle; u is the system speed control rate
The reference torque T can be obtained by integrating Uref；TeA system state equation established according to a mechanical motion equation of the switched reluctance motor is as follows:
wherein, TLIs the load torque.
2. The method according to claim 1, further comprising substituting a rotation speed control law solved by the nonsingular fast terminal sliding mode rotation speed control model and a reference torque into a state equation of a system to verify the nonsingular fast terminal sliding mode rotation speed control model after the nonsingular fast terminal sliding mode rotation speed control model is constructed.
3. The method according to claim 2, wherein the specific process of constructing the nonsingular fast terminal sliding mode rotation speed control model comprises the following steps:
designing a nonsingular terminal sliding mode surface according to the given rotation speed deviation of the system; solving an approach law of the nonsingular terminal sliding mode surface; and establishing a control law equation of the nonsingular rapid terminal sliding mode rotating speed control model according to the nonsingular terminal sliding mode surface and the approximation law thereof.
4. The method according to claim 3, characterized in that the approximation law of the nonsingular terminal sliding-mode surfaces is solved using a saturation function sat (z).
5. The method of claim 1, wherein the instantaneous reference torque for each phase is solved for from the rotor position angle for each phase and the system reference torque using a cosine type torque distribution function.
6. The method of claim 5, wherein the cosine-type torque distribution function is:
where θ is the rotor position angle of each phase, θonOpening a through angle for each phase winding; thetaoffStarting to reduce the rotor position angle corresponding to the electromagnetic torque for each phase winding in the torque distribution function; thetaovAn overlap angle at which two adjacent phases are simultaneously conducted when the motor windings are in phase change in the torque distribution function; tau isrIs the rotor angle period.
7. The method of claim 1, wherein the rotor position angle signal and the difference signal drive operation of the switched reluctance motor by a logical operation of an and.
8. The utility model provides a non-singular quick terminal slipform rotational speed control system of switched reluctance motor which characterized in that includes: the device comprises a motor body, a power converter, a controller, a current sensor and a position sensor;
the controller is used for calculating the rotating speed deviation of a system according to data signals of the motor body, acquired by the current sensor and the position sensor, constructing a nonsingular fast terminal sliding mode rotating speed control model based on the rotating speed deviation, and solving a system rotating speed control law and a reference torque through the nonsingular fast terminal sliding mode rotating speed control model; obtaining instantaneous reference torque of each phase according to the rotor position angle of each phase and the system reference torque; subtracting the real-time torque of each feedback phase from the instantaneous reference torque of each phase to obtain a difference signal; and the difference signal and the rotor position angle signal are subjected to AND logical operation and then transmitted to a power converter;
the power converter is used for controlling the on-off of each phase according to the logical operation result of the difference signal and the rotor position angle signal and driving the switched reluctance motor to operate;
the nonsingular rapid terminal sliding mode rotating speed control model is as follows:
wherein J is the rotational inertia of the motor; b is a viscous friction coefficient; x is the number of1Is the deviation of the rotating speed; ρ is a positive integer, p and q are positive odd numbers, and
p>q; sat (z) is a saturation function; epsilon is a positive integer; theta is a rotor position angle; u is the system speed control rate
The reference torque T can be obtained by integrating Uref；TeA system state equation established according to a mechanical motion equation of the switched reluctance motor is as follows:
wherein, TLIs the load torque.
9. A controller for nonsingular fast terminal sliding-mode rotating speed control of a switched reluctance motor is characterized by comprising at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470537.7A CN110096077B (en) | 2019-05-31 | 2019-05-31 | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470537.7A CN110096077B (en) | 2019-05-31 | 2019-05-31 | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110096077A CN110096077A (en) | 2019-08-06 |
| CN110096077B true CN110096077B (en) | 2022-01-25 |
Family
ID=67449834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910470537.7A Active CN110096077B (en) | 2019-05-31 | 2019-05-31 | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110096077B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654218B (en) * | 2020-06-10 | 2022-04-05 | 大连海事大学 | Switched reluctance motor torque distribution function control system with improved fuzzy control |
| CN114244222B (en) * | 2021-11-02 | 2023-05-05 | 西南交通大学 | Permanent magnet synchronous motor control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006050014A1 (en) * | 2004-10-28 | 2006-05-11 | Precise Automation, Llc | Transverse flux switched reluctance motor and control methods |
| CN105007009A (en) * | 2015-07-27 | 2015-10-28 | 河海大学常州校区 | Doubly salient motor direct torque control device based on terminal sliding mode and method thereof |
| CN105416276A (en) * | 2015-12-14 | 2016-03-23 | 长春工业大学 | Method for controlling electric automobile stability direct yawing moment based on high-order slip mold |
| CN108429508A (en) * | 2018-03-13 | 2018-08-21 | 西南石油大学 | The design method and control system of switched reluctance machines fractional order sliding mode controller |
| CN108599667A (en) * | 2018-04-02 | 2018-09-28 | 江苏理工学院 | The control method and system of switched reluctance machines |
| CN109343351A (en) * | 2018-12-07 | 2019-02-15 | 桂林电子科技大学 | A kind of switched reluctance machines moment controlling system of advanced PID control |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9236820B2 (en) * | 2013-03-11 | 2016-01-12 | Steering Solutions Ip Holding Corporation | System for reducing torque ripple in an electric motor |
| CA2878561C (en) * | 2014-01-17 | 2020-02-18 | Mcmaster University | Torque ripple reduction in switched reluctance motor drives |
-
2019
- 2019-05-31 CN CN201910470537.7A patent/CN110096077B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006050014A1 (en) * | 2004-10-28 | 2006-05-11 | Precise Automation, Llc | Transverse flux switched reluctance motor and control methods |
| CN105007009A (en) * | 2015-07-27 | 2015-10-28 | 河海大学常州校区 | Doubly salient motor direct torque control device based on terminal sliding mode and method thereof |
| CN105416276A (en) * | 2015-12-14 | 2016-03-23 | 长春工业大学 | Method for controlling electric automobile stability direct yawing moment based on high-order slip mold |
| CN108429508A (en) * | 2018-03-13 | 2018-08-21 | 西南石油大学 | The design method and control system of switched reluctance machines fractional order sliding mode controller |
| CN108599667A (en) * | 2018-04-02 | 2018-09-28 | 江苏理工学院 | The control method and system of switched reluctance machines |
| CN109343351A (en) * | 2018-12-07 | 2019-02-15 | 桂林电子科技大学 | A kind of switched reluctance machines moment controlling system of advanced PID control |
Non-Patent Citations (10)
| Title |
|---|
| A position sensorless control of switched reluctance motors based on sliding-mode observer;Xiao Wang 等;《2016 IEEE Transportation Electrification Conference and Expo (ITEC)》;20160725;第1-6页 * |
| Direct torque control of switched reluctance motor based on adaptive second-order terminal sliding mode;Liu Yongzhi 等;《Journal of Beijing University of Aeronautics and Astronautics》;20181031;第44卷(第10期);第2043-2051页 * |
| Robust control of planar switched reluctance motors;Yang Jinming 等;《Proceedings of the CSEE》;20081025;第28卷(第30期);第104-108页 * |
| Torque-ripple minimization with indirect position and speed sensing for switched reluctance motors;Mohammad S. Islam 等;《IEEE Transactions on Industrial Electronics》;20001031;第47卷(第05期);第1126-1133页 * |
| 一种开关磁阻电机复合模糊自整定PI控制器设计;李红伟 等;《控制与信息技术》;20190205(第01期);第27-31+38页 * |
| 四轮独立驱动电动汽车轮毂电机控制策略的研究;黄启然 等;《汽车工程》;20141031;第36卷(第10期);第1237-1242,1257页 * |
| 基于快速非奇异终端滑模的直线开关磁阻电机位置控制;周龙飞;《中国硕士学位论文全文数据库工程科技Ⅱ辑》;20180615;第C042-145页 * |
| 开关磁阻电机模糊滑模转速控制;刘灏颖 等;《电气自动化》;20141102(第05期);第18-19+70页 * |
| 开关磁阻电机非奇异快速终端滑模位置控制;程勇 等;《电机与控制学报》;20121127;第16卷(第09期);第78-82页 * |
| 非奇异终端滑模控制系统的设计方法;冯勇 等;《控制与决策》;20020331(第02期);第194-198页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110096077A (en) | 2019-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105827168B (en) | Method for controlling permanent magnet synchronous motor and system based on sliding formwork observation | |
| CN108418487B (en) | Speed pulsation suppression method for electric automobile | |
| CN108336935B (en) | Linear motor control method with cooperation of backstepping control and ESO | |
| CN102868347A (en) | Inverter device and electric motor drive system | |
| CN109167547A (en) | Based on the PMSM method for controlling position-less sensor for improving sliding mode observer | |
| CN110829932A (en) | Direct torque control system and method for transverse flux switch reluctance motor | |
| Xie et al. | Encoderless parallel predictive torque control for induction machine using a robust model reference adaptive system | |
| CN112234894B (en) | Dead-beat direct torque-flux linkage control system and method for variable flux memory motor | |
| CN110096077B (en) | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor | |
| Ren et al. | A vector control system of PMSM with the assistance of fuzzy PID controller | |
| Kumar et al. | Continuous fast terminal sliding surface-based sensorless speed control of pmbldcm drive | |
| CN107070352B (en) | A kind of Switched Reluctance Motor | |
| CN107872182A (en) | A kind of method for controlling permanent magnet synchronous motor based on generalized model prediction | |
| CN109617482B (en) | L2 sliding mode control method of permanent magnet synchronous motor | |
| CN109194216A (en) | A kind of switched reluctance machines Direct Torque Fuzzy PI Control System and method | |
| CN109150043A (en) | Voltage feedforward compensation method in current loop of alternating current servo system | |
| Kadum | New adaptive hysteresis band width control for direct torque control of induction machine drives | |
| Alsofyani et al. | Improved EKF-based direct torque control at the start-up using constant switching frequency | |
| CN108649852B (en) | Permanent magnet synchronous motor control method for improving current loop | |
| Shi et al. | A novel commutation correction method for high-speed PM brushless DC motor | |
| Li | Fuzzy DTC for induction motor with optimized command stator flux | |
| Wu et al. | Novel hybrid sliding-mode controller for direct torque control induction motor drives | |
| CN112865654B (en) | Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor | |
| Qiang et al. | Adaptive-fuzzy PI control strategy for flux-switching permanent magnet motors | |
| CN111541410B (en) | Method for controlling direct power of open-winding brushless doubly-fed generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |